Mariokart An Autonomous Go-Kart Henry Jenkins Department of Computer and Electrical Engineering, University of Canterbury, Christchurch, New Zealand September 26, 2011
Overview The Original Goal - Make department go-kart drive autonomously - Interface to the existing control system - Select actuators, motion and distance sensors - Development of a navigation system - Have go-kart drive itself around university
Our Goal - Sub-goal of of drive-by-wire go-kart - Make a robust platform for future projects
The Go-Kart
Hardware Layout PCBs x 5
Hardware Layout PCB Block Diagram
Hardware Layout Whole kart
How it all communicates Comms CAN Bus - Inter-board Communications - Expandable if someone wants to add more nodes
USART - Two on each board - One used for debugging
SPI - Two on each board - One 5v level logic
USB - Fast communication with computer
Conclusion The end. . . - All Hardware working I Only 3 minor mistakes on boards I Nice hardware platform for future years - Project almost stuck to time plan I Although we cut the goal down, we came close to achieving our stepping stone goal. - Project well documented I Wiki for documentation I Group coding standard adhered to - Most of all I I learnt a lot I Had a heap of fun
Why use Atmel SAM7s - Required Peripherals I CAN Controller I USB - Familiarity I Have used SAM7s before I Large Library for Atmel - Expansible I Spare GPIO I Can do some signal processing
Board Design Dreaming about Altium
1. Select major components I I I
MCU Voltage regulators etc. . .
2. Select headers and connectors 3. layout schematics I
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